Stabilization of multiple input chained form control systems

This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result of Teel, Murray, and Walsh (1992) on stabilizing the above class of systems which have two inputs. In addition, the authors generalize this law to control dynamical control systems and construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizes the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results